Pre-requisites

Attention

Read this document carefully! In case of doubt, consult specialists, experts, or manufacturers of the assemblies used. The robot must not be operated before all uncertainties are clarified. For further assistance, refer to the guides below or contact a specialist.

Important: Contact information is available in the RMA/ Support Section.

Warning: Do not allow untrained individuals or those unfamiliar with robotics or these instructions to operate the robot. Improper use of robots is dangerous.

This guide will walk you through the process of setting up and configuring the Unitree H1 robot, including network configurations, SSH access, internet setup, software installation and various operational controls. Follow the steps below carefully to ensure proper operation.

Autostart

All ROS2 drivers for the H1 developed by MYBOTSHOP operate with the environment variable ROS_DOMAIN_ID=10. To start the custom Mybotshop ROS2 drivers for the H1, run the following command:

Note

Please ensure that the robot’s arms are straight down when you power on the robot. If the arms are in a different orientation, it may affect the ROS2 control operations.

ros2 launch h1_bringup system.launch.py

This command starts the driver for operating the H1 in high-level mode for the legs and arms.

Important

The arms will initialize and move so that the forearms are facing forward.

The H1 ROS2 driver includes the following components:

  • Domain Bridge

  • Joint States

  • Robot Description

  • Arm Control

  • Leg Control (High-level)

  • Inertial Measurement Unit Publisher

  • Sensor Fusion

  • Twist Mux

  • Logitech F710 Control

  • D435i Depth Camera Driver

  • Livox Mid360 LiDAR Driver

  • 2D Scanner

All ROS2 drivers for the H1 developed by MYBOTSHOP operate with the environment variable ROS_DOMAIN_ID=10. To start the custom Mybotshop ROS2 drivers for the H1, run the following command:

Note

Please ensure that the robot’s arms are straight down when you power on the robot. If the arms are in a different orientation, it may affect the ROS2 control operations.

ros2 launch h1_bringup system.launch.py

This command starts the driver for operating the H1 in high-level mode for the legs and arms.

Important

The arms will initialize and move so that the forearms are facing forward.

The H1 ROS2 driver includes the following components:

  • Domain Bridge

  • Joint States

  • Robot Description

  • Arm Control

  • Leg Control (High-level)

  • Inertial Measurement Unit Publisher

  • Sensor Fusion

  • Twist Mux

  • Logitech F710 Control

  • D435i Depth Camera Driver

  • Livox Mid360 LiDAR Driver

  • 2D Scanner

Webserver

Coming Soon

Not Supported

Teleoperation

Command Line Interface

This requires the installation of the ROS2 Modules on H1. If not done please follow installation on H1 ROS2 Modules section. To teleoperate the H1, run the following command in one of the SSH sessions: .. code-block:: bash

ROS_DOMAIN_ID=10 ros2 run teleop_twist_keyboard teleop_twist_keyboard –ros-args –remap cmd_vel:=/h1_unit_238/cmd_vel

Command Line Interface

To teleoperate the H1, run the following command in one of the SSH sessions:

ROS_DOMAIN_ID=10 ros2 run teleop_twist_keyboard teleop_twist_keyboard

Steamdeck Integration

Important

The Lidar data and camera stream are dependent on the DDS configuration and the WiFi dongle being used.

Setup Instructions:

  1. Before launching the H1 bringup, run the following command on the H1:

    ros2_wifi

  2. Launch the system:

    ros2 launch h1_bringup system.launch.py

  3. Click on the joystick controller icon on the Steamdeck to access controls.

Controls:

Leg Control:

  • Slow Movement: L1 + Left Joystick

  • Right Movement: R1 + Left Joystick

Arm Control:

  • To be announced (TBA). This can be modified using the h1_steamdeck libjoy.

Visualization

RViz2

You can view the H1’s current state by entering the following command in one of the SSH sessions:

ros2 launch h1_viz view_robot.launch.py
_images/h1_viz.png

H1 Robot Visualization in RViz

RViz2

You can view the H1’s current state by entering the following command in one of the SSH sessions:

ros2 launch h1_viz view_robot.launch.py
_images/h1_viz.png

H1 Robot Visualization in RViz

Rigs

Not Supported

Not Supported

Manipulation

H1 Robot Control

Modes Selection

Important

Most functionalities are disable for Unitree H1. Startup requires remote.

Posture & State Commands

Command

Description

damp

Set all motors to damping mode.

start

Start locomotion control.

stand_up

Stand up from sitting/squatting.

zero_torque

Disable torque on all motors.

stop_move

Stop all motion immediately.

high_stand

Stand at high position.

low_stand

Stand at low position.

balance_stand

Stand with balance mode active.

Setter Commands (Change Robot State)

Command

Parameters

set_fsm_id=<id>

Integer FSM ID to switch to.

set_balance_mode=<0/1>

Enable (1) or disable (0) balance mode.

set_swing_height=<value>

Set swing height in meters.

set_stand_height=<value>

Set stand height in meters.

set_velocity="vx vy ω [duration]"

Set velocity (m/s, m/s, rad/s, [duration in s]).

move="vx vy ω"

Command motion without duration.

set_task_id=<id>

Set active task ID.

set_speed_mode=<mode>

Change locomotion speed mode.

Getter Commands (Query Current Robot State)

Command

Returns

get_fsm_id

Current finite state machine ID.

get_fsm_mode

Current FSM mode.

get_balance_mode

Current balance mode (0/1).

get_swing_height

Current swing foot height.

get_stand_height

Current standing height.

get_phase

Current gait phase vector.

Toggle Commands

Command

Parameters

Description

continous_gait=<true/false>

bool

Enable or disable continuous gait mode.

switch_move_mode=<true/false>

bool

Switch between movement mode and standing mode.

Examples

Damp State:

ROS_DOMAIN_ID=10 ros2 service call /h1_unit_238/hardware_modes h1_interface/srv/H1Modes \
'{"request_data": "damp"}'

Dual Arm Record H1-2

Warning

When launch the arm driver the arm violently snaps to the H1-2 initial position. Ensure the arms are near to the start position to prevent damage to the robot and keep surrounding area clear.

ros2 launch h1_platform h1_2_arm_record.launch.py

Configuration

Update to requirements the /opt/mybotshop/src/mybotshop/h1_platform/config/h1_2_dual_arm_controller.yaml file

Start recording

Important

Keep in mind the arms will start moving from this area so try to keep away from the body to avoid scratches. In the end of the recording be sure to bring the arms in a location close to the initial position for the next recording session.

ROS_DOMAIN_ID=10 ros2 service call /h1_unit_238/dual_arm/record std_srvs/srv/SetBool "data: true"

Stop recording and save

ROS_DOMAIN_ID=10 ros2 service call /h1_unit_238/dual_arm/record std_srvs/srv/SetBool "data: false"

Play last recorded trajectory

ROS_DOMAIN_ID=10 ros2 service call /h1_unit_238/dual_arm/playback h1_interface/srv/H1Modes "request_data: ''"

Play specific file

ROS_DOMAIN_ID=10 ros2 service call /h1_unit_238/dual_arm/playback h1_interface/srv/H1Modes "request_data: '/opt/mybotshop/h1_2_trajectories/trajectory_20250925_160052.csv'"

Dual Arm Control H1-2

ros2 launch h1_platform h1_2_arm_server.launch.py

Configuration

Update to requirements the /opt/mybotshop/src/mybotshop/h1_platform/config/h1_2_dual_arm_controller.yaml file

Poses

T pose

ROS_DOMAIN_ID=10 ros2 action send_goal /h1_unit_1789/dual_arm/follow_joint_trajectory \
    control_msgs/action/FollowJointTrajectory \
    "{trajectory:
        {joint_names: [
            left_shoulder_pitch, left_shoulder_roll, left_shoulder_yaw, left_elbow,
            left_wrist_roll, left_wrist_pitch, left_wrist_yaw,
            right_shoulder_pitch, right_shoulder_roll, right_shoulder_yaw, right_elbow,
            right_wrist_roll, right_wrist_pitch, right_wrist_yaw],
        points: [
            {positions: [0.0, 0.3, 0.0, 1.57, 0.0, 0.0, 0.0,   0.0,-0.3, 0.0, 1.57, 0.0, 0.0, 0.0],
            time_from_start: {sec: 2, nanosec: 0}},
            {positions: [0.0, 1.57, 0.0, 1.57, 0.0, 0.0, 0.0,  0.0,-1.57,0.0, 1.57, 0.0, 0.0, 0.0],
            time_from_start: {sec: 5, nanosec: 0}}
        ]}}"

  • Ready pose

ROS_DOMAIN_ID=10 ros2 action send_goal /h1_unit_1789/dual_arm/follow_joint_trajectory \
control_msgs/action/FollowJointTrajectory \
"{trajectory:
    {joint_names: [
        left_shoulder_pitch, left_shoulder_roll, left_shoulder_yaw, left_elbow,
        left_wrist_roll, left_wrist_pitch, left_wrist_yaw,
        right_shoulder_pitch, right_shoulder_roll, right_shoulder_yaw, right_elbow,
        right_wrist_roll, right_wrist_pitch, right_wrist_yaw],
    points: [
        {positions: [0.0, 0.3, 0.0, 0.7, 0.0, 0.0, 0.0,
                    0.0,-0.3, 0.0, 0.7, 0.0, 0.0, 0.0],
        time_from_start: {sec: 2, nanosec: 0}},
    ]}}"

Leg Control Mode

The following H1 modes are available via ROS2 services:

- damp
- stand_switch
- increase_swing_height
- decrease_swing_height
- enable_ctrl

Note

Pressing the Tab key on the keyboard will autocomplete the service request.

Example of Activating a Mode

To activate a specific mode, use the following command:

ROS_DOMAIN_ID=10 ros2 service call /h1/leg_modes h1_srvs/srv/H1Modes '{"request_data": "stand_switch"}'

Arm Low-Level Control

The predefined arm positions do not include obstacle avoidance for either the robot or its environment.

Important

Ensure that the arms are straight down when powering on the robot. If the orientation is different, it will affect the ROS2 control operation. The arms will initialize and move so that the forearms are facing forward.

To set the arms to their default position, use the following command:

h1_arm_default
Executing arm default command

Executing arm default command
H1 arm moving to default position

H1 arm moving to default position

Warning

Using the h1_arm_zero command brings the arms to a position that prevents backlash when restarting the ROS2 control driver. This should be done before closing the ROS2 driver if you plan to run the driver again later.

To zero the arms, execute:

h1_arm_zero
Executing arm zero command

Executing arm zero command
H1 arm moving to zero position

H1 arm moving to zero position

To set the arms to a T-pose, use:

h1_arm_t
Executing T-pose command

Executing T-pose command
H1 arm moving to T-pose

H1 arm moving to T-pose

For a sample pose useful for picking objects, use:

h1_arm_pick
Executing pick pose command

Executing pick pose command
H1 arm moving to pick pose

H1 arm moving to pick pose

Examples of Trajectory Control

Bring Left Arm to Zero Position

To bring the left arm to the zero position, run:

ROS_DOMAIN_ID=10 ros2 action send_goal /left_arm_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory -f "{
  trajectory: {
    joint_names: [left_shoulder_pitch_joint,
    left_shoulder_roll_joint, left_shoulder_yaw_joint,
    left_elbow_joint],
    points: [
      { positions: [0.0, 0.0, 0.0, 0.0], time_from_start: { sec: 2 } },
      { positions: [0.5, 0.0, 0.0, 0.1], time_from_start: { sec: 4 } },
    ]
  }
}"

Bring Right Arm to Zero Position

To bring the right arm to the zero position, run:

ROS_DOMAIN_ID=10 ros2 action send_goal /right_arm_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory -f "{
  trajectory: {
    joint_names: [right_shoulder_pitch_joint,
    right_shoulder_roll_joint, right_shoulder_yaw_joint,
    right_elbow_joint],
    points: [
      { positions: [0.0, 0.0, 0.0, 0.0], time_from_start: { sec: 2 } },
      { positions: [0.5, 0.0, 0.0, 0.1], time_from_start: { sec: 4 } },
    ]
  }
}"

To perform a final power-off of the arms, use:

h1_arm_zero
Executing trajectory control to zero position

Executing trajectory control to zero position
H1 arm transitioning from T-pose to zero position

H1 arm transitioning from T-pose to zero position

MoveIt2 Integration

To launch the H1 MoveIt2 driver, run:

ros2 launch h1_moveit system.launch.py

This will open MoveIt2, which can be used for various manipulation tasks. Be sure to set a planner, such as TRRT, before planning and executing a motion plan.

Sensors

Depth Cameras

Intel Realsense D435i

Test the native driver via:

ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=1280x720x30 pointcloud.enable:=true

This should be running via services and can be controlled via the webserver or systemctl to activate or deactivate it. When turned off you can test via:

ros2 launch h1_depth_camera realsense.launch.py

Depth Camera ZED2i

This should be running via services in the nividia bagpack and can be controlled via the systemctl to activate or deactivate it. When turned off you can test via:

ros2 launch h1_depth_camera zed.launch.py

Lidars

Ouster

This should be running via services and can be controlled via the webserver or systemctl to activate or deactivate it. When turned off you can test via:

ros2 launch h1_lidar ouster.launch.py

GPS

Emlid M2

This should be running via services and can be controlled via the webserver or systemctl to activate or deactivate it. When turned off you can test via:

ros2 launch h1_gps emlid_m2.launch.py

For configuration, the webserver’s VNC can be utilized. Open the browser and navigate to http://192.168.2.15 to configure the emlid M2’s output, RTK settings, Base station connection, etc.

Auxiliary

Depth Cameras

Intel Realsense D435i

  1. The D435i is launched by default with the H1 bringup. To launch the Realsense D435i separately, execute:

    ros2 launch h1_depth_camera realsense_d435i.launch.py

  2. The launch file is configured to enable continuous depth stream information from the Realsense D435i without lag. To further change parameters, modify the configuration in:

    h1_depth_camera/launch/realsense_d435i.launch.py
Intel Realsense D435i Normal Output

Intel Realsense D435i Normal Output
Intel Realsense D435i Depth Output

Intel Realsense D435i Depth Output

Lidars

The Mid360 is launched by default with the H1 bringup. To activate the Mid360 Lidar, execute:

ros2 launch h1_livox system.launch.py
Mid360 Lidar Output Visualization in RViz

Mid360 Lidar Output Visualization in RViz

GPS

Auxiliary

Simulation

Gazebo

ros2 launch h1_gazebo h1_2_fortress_simulation.launch.py

Unitree RL Gym

For sim to real deployment please follow instructions at unitree_rl_gym

Isaac Lab

Please refer to Isaac Lab for training and deployment.

Gazebo

Available in Humble

Isaac Sim

Available in Isaac Lab

Packages

Robot Description

The H1 robot description package is named h1_description. It contains the URDF and mesh files necessary to visualize and simulate the H1 robot in various ROS2 tools.

Twist Mux

The twist mux package for the H1 is named h1_control. It manages multiple velocity command inputs and prioritizes them to ensure smooth and safe robot operation.

EKF Localization

The Extended Kalman Filter (EKF) localization package for the H1 is named h1_control. It fuses sensor data to provide accurate and reliable robot pose estimates.

Robot Description

The H1 robot description package is named h1_description. It contains the URDF and mesh files necessary to visualize and simulate the H1 robot in various ROS2 tools.

Twist Mux

The twist mux package for the H1 is named h1_control. It manages multiple velocity command inputs and prioritizes them to ensure smooth and safe robot operation.

EKF Localization

The Extended Kalman Filter (EKF) localization package for the H1 is named h1_control. It fuses sensor data to provide accurate and reliable robot pose estimates.

Debugging

RQT

ROS_DOMAIN_ID=10 ros2 run rqt_gui rqt_gui --ros-args --remap tf:=/h1_unit_238/tf --ros-args --remap tf_static:=/h1_unit_238/tf_static

Dynamic Reqconfigure

  • From configure select Dynamic Reconfigure

ROS_DOMAIN_ID=10 ros2 run rqt_gui rqt_gui --ros-args --remap tf:=/h1_unit_238/tf --ros-args --remap tf_static:=/h1_unit_238/tf_static

TF

ROS_DOMAIN_ID=10 ros2 run rqt_tf_tree rqt_tf_tree --force-discover --ros-args --remap tf:=/h1_unit_238/tf --ros-args --remap tf_static:=/h1_unit_238/tf_static

ROS_DOMAIN_ID=10 ros2 run tf2_tools view_frames.py --force-discover --ros-args --remap tf:=/h1_unit_238/tf --ros-args --remap tf_static:=/h1_unit_238/tf_static

Debugging Tips

When running RQt GUI with multiple robots in the same network, it’s important to set a unique ROS_DOMAIN_ID for each robot to avoid communication conflicts. You can do this by exporting the ROS_DOMAIN_ID environment variable before launching RQt GUI. For example, to set the domain ID to 10, use the following command:

ROS_DOMAIN_ID=10 ros2 run rqt_gui rqt_gui

This command ensures that RQt GUI communicates with the robot assigned to domain ID 10, preventing interference from other robots on the network.

Dynamic Reconfigure

To adjust parameters on-the-fly using dynamic reconfigure, you can use the following command:

ROS_DOMAIN_ID=10 ros2 run rqt_reconfigure rqt_reconfigure

TF Tree

To visualize the TF tree of the H1 robot, you can use the following command:

ROS_DOMAIN_ID=10 ros2 run rqt_tf_tree rqt_tf_tree --force-discover

Video stream

To view the video stream from the H1’s camera, you can use the following command:

gst-launch-1.0 udpsrc address=230.1.1.1 port=1720 multicast-iface=eth0 ! \
 application/x-rtp, media=video, encoding-name=H264 ! \
 rtph264depay ! queue max-size-buffers=1 ! h264parse ! queue ! avdec_h264 ! \
 videoconvert ! autovideosink

Miscellanious

SDK Examples

cd /opt/mybotshop/04Aug2025_unitree_sdk2/build/
cmake .. && make && sudo make install

cd /opt/mybotshop/04Aug2025_unitree_sdk2/build/bin
./h1_loco_client --network_interface=eth0 --shake_hand

Computer - Robot Synchronization

rsync -avP -t --delete -e ssh src unitree@192.168.123.164://opt/mybotshop

Update System Kernel Cyclone

printf "net.core.rmem_max=33554432\nnet.core.rmem_default=33554432\nnet.core.wmem_max=33554432\nnet.core.wmem_default=33554432\nnet.ipv4.udp_rmem_min=16384\nnet.ipv4.udp_wmem_min=16384\n" | sudo tee /etc/sysctl.d/90-ros2-dds.conf

sudo sysctl --system

Enable Internet - LAN

This enables LAN via the ethernet cable. This has to be connected to a router with internet access

sudo ip link set eth0 down && sudo ip link set eth0 up
sudo dhclient eth0

Computer - Robot Synchronization

rsync -avP -t --delete -e ssh src unitree@192.168.123.164://opt/mybotshop

Low-Level Control

The low-level control for the H1 can be directly accessed via Unitree’s provided examples in their documentation. Running the provided qre_h1 driver with the low-level commands from Unitree examples should work concurrently.

Installation

Installation Robot

  • Enable Internet by connecting it to a switch with internet

sudo ip link set eth0 down && sudo ip link set eth0 up
sudo dhclient eth0

  • Switch H1 id with ctrl+h

h1_unit_238

  • Switch username

sudo hostnamectl set-hostname h1-unit-284-pc-4

  • Disable redundant B2 slam

sudo systemctl stop unitree_slam.service
sudo systemctl disable unitree_slam.service
sudo rm /lib/systemd/system/unitree_slam.service

  • Update date and time, ensure you have internet in the robot. The quickest way is using the USB WiFi stick

sudo timedatectl set-timezone Europe/Berlin
sudo date -s "$(wget --method=HEAD -qSO- --max-redirect=0 google.com 2>&1 | sed -n 's/^ *Date: *//p')"

  • Install ROS2 Humble dev tools

sudo apt update && sudo apt install curl -y
export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" # If using Ubuntu derivates use $UBUNTU_CODENAME
sudo dpkg -i /tmp/ros2-apt-source.deb
sudo apt install ros-dev-tools

  • Create directory for h1 Workspace

sudo mkdir /opt/mybotshop

sudo chown -R unitree:unitree /opt/mybotshop

  • Clone the repository, copy over to the h1’s PC and run the installer script - Press Y when installing Livox Mid360 - Select gdm3 when prompted in webserver installation

cd /opt/mybotshop/src/mybotshop/ && sudo chmod +x h1_install.sh && ./h1_install.sh

cd /opt/mybotshop/src/mybotshop/h1_webserver && sudo chmod +x webserver_installer.sh && ./webserver_installer.sh

  • Build unitree sdk

cp -r /opt/mybotshop/src/third_party/unitree/04Aug2025_unitree_sdk2/ /opt/mybotshop
cd /opt/mybotshop/04Aug2025_unitree_sdk2/build
cmake .. && make && sudo make install

  • Build Kiss ICP

python3 -m pip install --user --upgrade "cmake>=3.24"
export PATH="$HOME/.local/bin:$PATH"
cd /opt/mybotshop && colcon build --symlink-install --packages-select kiss_icp --cmake-args -DCMAKE_POLICY_VERSION_MINIMUM=3.24

  • Build ros2 workspace

cd /opt/mybotshop && colcon build --symlink-install && source install/setup.bash

  • Add the following to .bashrc

# MYBOTSHOP
source /opt/mybotshop/install/setup.bash
alias h1_build='cd /opt/mybotshop && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release && source install/setup.bash'

  • Increase cyclone kernel

printf "net.core.rmem_max=33554432\nnet.core.rmem_default=33554432\nnet.core.wmem_max=33554432\nnet.core.wmem_default=33554432\nnet.ipv4.udp_rmem_min=16384\nnet.ipv4.udp_wmem_min=16384\n" | sudo tee /etc/sysctl.d/90-ros2-dds.conf

sudo sysctl --system

  • Run the startup installer - Ensure H1/H1-2 for description in the /opt/mybotshopt/src/mybotshop/h1_bringup/scripts/startup_installer.py

ros2 run h1_bringup startup_installer.py

Installation External

  • Clone the repository into a ros2_ws and build essential items only via:

colcon build --symlink-install --packages-select h1_description h1_viz && source install/setup.bash

  • Source and run rviz2

export H1_NS="h1_unit_238"
ros2 launch h1_viz view_robot.launch.py

Installation Robot

Note

This repository should already be available and built on the H1’s Nvidia board if it has been configured by the MYBOTSHOP team.

  1. Clone this repository into the H1’s Nvidia board.

  2. Run the bash install script.

  3. Build the repository by executing the following command:

    colcon build --symlink-install && source install/setup.bash

  4. After building, remember to source the install/setup.bash. Ensure you add the source command to your workspace in the .bashrc file.

Installation External

Note

Important: This process is necessary to enable Unitree SDK’s DDS topics to appear. Without these steps, only the MYBOTSHOP package ROS2 topics will be visible. You can skip this procedure if you do not need the Unitree topics.

Part 1

  1. Navigate to the unitree_sdk2 folder inside the thirdparty directory and execute the installation script:

    cd thirdparty/unitree_sdk2
sudo bash install.sh

  2. Build the examples:

    rm -rf build && mkdir build && cd build && cmake .. && make

  3. You can now directly run high-level and low-level examples as explained in the Unitree H1 SDK documentation.

Part 2

Requirements: ROS2 Foxy on Ubuntu 20.04.

  1. Install the necessary dependencies:

    sudo apt install ros-$ROS_DISTRO-rmw-cyclonedds-cpp ros-$ROS_DISTRO-rosidl-generator-dds-idl -y

  2. Unsource ROS Foxy in the terminal (i.e., by commenting out the sourcing command in the .bashrc file).

  3. Build Cyclone DDS:

    colcon build --packages-select cyclonedds

  4. Install other dependencies by running the provided install script:

    sudo chmod +x h1_install.bash && ./h1_install.bash

  5. Source the environment:

    source install/setup.bash
source /opt/ros/foxy/setup.bash

  6. Build the repository:

    colcon build --symlink-install

Network Setup

  1. Connect to the 123 network using a static IP (No DHCP, as it disrupts the network).

  2. Note down the network interface name (e.g., eth0).

  3. Edit and source the h1_bringup/config/setup.bash file with the corrected network interface. For example:

    #!/bin/bash
echo "Setup Unitree ROS2 environment"
source /opt/ros/foxy/setup.bash
source $HOME/ros2_ws/install/setup.bash

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
                           <NetworkInterface name="eth0" priority="default" multicast="default" />
                        </Interfaces></General></Domain></CycloneDDS>'

  4. Add the above to your .bashrc file for persistence.

Verification

  1. Check the available ROS2 topics:

    ros2 topic list

  2. Echo a specific topic (e.g., /lowstate):

    ros2 topic echo /lowstate